PD6-E/-EB EtherCAT Online Manual

6099h Homing Speed

Object description

Index 6099h
Object name Homing Speed
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: application
Firmware version FIR-v1426
Change history

Value description

Subindex 00h
Name Number Of Entries
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 02h
Subindex 01h
Name Speed During Search For Switch
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000032h
Subindex 02h
Name Speed During Search For Zero
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 0000000Ah

Description

The speed for the search for the switch is specified in subindex 1.

The (lower) speed for the search for the reference position is specified in subindex 2.

Note:
  • The speed in subindex 2 is simultaneously the initial speed when starting the acceleration ramp. If this is set too high, the motor loses steps or fails to turn at all.

    If the setting is too high, the index marking will be overlooked, especially with high-resolution encoders. The minimum detectable width of the index pulse is 31.25 µs.

    .
  • The speed in subindex 1 must be greater than the speed in subindex 2.
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